Public Member Functions | Static Public Member Functions | Public Attributes
PointReprjErrorNoDistortion Struct Reference

List of all members.

Public Member Functions

template<typename T >
bool operator() (const T *const c_p1, const T *point, T *resid) const
 PointReprjErrorNoDistortion (double ob_x, double ob_y, double fx)

Static Public Member Functions

static ceres::CostFunction * Create (const double p_x, const double p_y, const double p_z)

Public Attributes

double px_
double py_
double pz_

Detailed Description

Definition at line 39 of file ceres_utest.cpp.

Constructor & Destructor Documentation

PointReprjErrorNoDistortion::PointReprjErrorNoDistortion ( double  ob_x,
double  ob_y,
double  fx 
) [inline]

Definition at line 41 of file ceres_utest.cpp.

Member Function Documentation

static ceres::CostFunction* PointReprjErrorNoDistortion::Create ( const double  p_x,
const double  p_y,
const double  p_z 
) [inline, static]

end of operator() Factory to hide the construction of the CostFunction object from the client code.

Definition at line 101 of file ceres_utest.cpp.

template<typename T >
bool PointReprjErrorNoDistortion::operator() ( const T *const  c_p1,
const T *  point,
T *  resid 
) const [inline]

extract the variables from the camera parameters

extrinsic block of parameters

angle_axis x for rotation of camera

angle_axis y for rotation of camera

angle_axis z for rotation of camera

translation of camera x

translation of camera y

translation of camera z

rotate and translate points into camera frame

angle axis

point rotated

apply camera translation

point rotated and translated

scale into the image plane by distance away from camera T xp = xp1 / zp1; T yp = yp1 / zp1;

perform projection using focal length and camera center into image plane resid[0] = T(fx_) * xp + T(cx_) - T(ox_); resid[1] = T(fy_) * yp + T(cy_) - T(oy_);

pointextrinsic parameters
residpoint being projected, yes this is has 3 parameters

Definition at line 47 of file ceres_utest.cpp.

Member Data Documentation

Definition at line 105 of file ceres_utest.cpp.

observed x location of object in image

Definition at line 106 of file ceres_utest.cpp.

observed y location of object in image known focal length of camera in x

Definition at line 107 of file ceres_utest.cpp.

The documentation for this struct was generated from the following file:

Author(s): Chris Lewis
autogenerated on Wed Aug 26 2015 12:00:27